Gyroscopic instrument



April J. SELIGMANN 2,199,294

GYROSCOPIC INSTRUMENT Filed July 7, 1939 In vgnior tfoha/nneo' Jeiq'gmaran,

QM QQM Attorneys Batented Apr. 30, 19.40,

1 UNITED STATES PATENT OFFICE GYROSCOPIC INSTRUMENT Johannes Selig-mann, Kiel, Germany, assignor to Anschiitz & (70. G. in. b. H., Kiel-Neumuhlen,

Germany v Application July 7, 1939, Serial No. 283,291

In Germany May 4, 1935 8 Claims. (Cl. 33-204) Other objects of my invention will appear from the description following hereinafter.

I attain these and other'objects by controllingthe body to be stabilized from two gyroscope pendulums which have a normally perpendicular axis and are mounted for independent precessional movement. lums is constrained about one of its horizontal axes of suspension by a comparatively feeble restoring couple but is constrained about its other horizontal axis of suspension by a comparatively powerful couple. Therefore, the resulting precessional movement of the gyroscope pendulums is of elliptical character. The two axes of powerful constraint extend at right angles to one another and the body to be stabilized is so mounted as to partake in the oscillations of the gyroscopes about these axes. These oscillations are very small and, therefore, the body is very accurately- 30 maintained in horizontal position.

In the drawing, I have illustratedtwo preferred embodiments of my invention.

Fig. 1 is a perspective view of an instrument for stabilizing a horizontal mirror, 1

35 Fig. 2 is a similar representation of a modifi cation of the instrument shown in Fig. l, and

Fig. 3 is a diagram showing the accuracy of stabilization attainable by my invention.

I As shown in Fig. 1, the base or holder 2| mount- 4 ed on board ship has a trunnion 20 carrying a rotary platform 22 provided with peripheral gear Y 50 The platform 22 is provided with two diametrically opposed brackets forming bearings for trunnions l of a normally horizontal gimbal frame 8. This frame is provided with two opposed pivots Ill having a common horizontal axis extending at 55 right angles relative 'to'that of the trunnions 1.

Each of the two gyroscopependur On the pivots l0 there is mounted. a second gimbal frame comprised of a plate 9 formed with downwardly extending ears 35 forming bearings for the trunnions l0 and with two depending arms 6. In the lower ends of these arms, there are 5 mounted diametrically opposed trunnions 5 of the gyroscope carrier 5.

The term gyroscope carrier as used in this specification and in theappended claims is intended to define the support of the bearings in which the axle of spinning gyroscope is jour-v nalled. The axis of these hearings is normally in upright position and extends at right angles to that of the trunnions 5.

The entire unit comprised of the gyroscope proper and its carrier t constitutes a so-called gyroscope pendulum. Its center of gravity is located beneath the axis of the trunnions 5. Therefore, this gyroscope pendulum is subject to a gravitational restoring couple tending to restore 29 it to perpendicular position.- As the distance of the axis 5 -5 from the center of gravity of the. gyroscope pendulum is but small, the gravitational restoring couple effective about this axis is but feeble. Another restoring couple acts at right angles thereto on the gyroscope pendulum about the axis of the pivots l0-l0. The power of this couple is determined by the distance of the axis l0l 0 from the center of gravity of the composite structure comprised of the gimbal 30 frame 9, 6 and of the gyroscope pendulum. This center of gravity, however, is at a substantial distanee beneath the primary axis Ill-Ill and, therefore, exerts a much more powerful couple about this axis than the couple acting about the secondary axis 55. s

The gyroscope encased within the carrier. 4 .is r v provided with an electric driving motor in a known manner which need not-be described. Moreover, the gyroscope pendulum is provided 40 with suitabledamping means diagrammatically indicated at'36. Since'such damping means are well known in the art, they need not be described in detail. 7 a s The element which is to be stabilized relative to thev horizon is constituted by the plate 9. This plate may be in formof a mirror which is to be kept in horizontal position irrespective of the movements of the ship for the purpose of'as- 3 tronomical observations. v

The gimbal frame 8 is provided with-another' pair of pivots [2 extending parallel to the pivots l0 and at right angles to the pivots 5. On these pivots there is journalled a second gyroscope carrier ll provided with a second gyroscope pendulum. This gyroscope pendulum is provided with individual damping means 31 and its center of gravity is located closely beneath the axis of the pivots l2.

It will appear from theforegoing description that the two gyroscope pendulums are capable of 1, independent universal precessional movement since the carrier '4 may oscillate about the horizontal axes 5 -5 and Ill-J0, while the other gyroscope carrier ll may oscillate at the same time independently about the axes l2-l,2 and I-'-|. The second gyroscope pendulum is subject to similar restoring couples as the first one. Thus, a comparatively feeble couple acts about the axis l2--I2, while the gimbal frame 3, 8 and the carrler 4 mountedthere'in constitute a pendulum tending to hold the frame 8 horizontal and producing a powerful restoring couple about the" axis 1-1.

It is an important feature, of my invention that the means above described exert two diflerent re-. storing couples about thetwo principal horizontal axes on each gyroscope carrier and that the primary axes Ill-40 and 1,'l about which the more powerful couples are exerted extend at right angles to one another.

For an easier understandingof the operation it may be assumed that while both .gyroscopes L arein operation, the carriers 4 and ll be displaced out of their perpendicular position. Then, their axes will perform a precessional movement along an ellipse. The ratio of the two principal axes of this ellipse is the inverse of the ratio of the roots from the restoring'couples. The longer axis of the ellipse extends parallel to the axis Ill-l0. Hence, the gyroscope carrier 4 performs oscillations of 'a considerable amplitude about the secondary axis 55 but an oscillation'of a il gryl gmall amplitude about the primary axis Similar considerations apply to the other gyroscope carrier H. The axis of the same performs a similar precessional movement along an elongated ellipse extending in parallel relationship to B the axis 1-1... In other words, the amplitude of the precessiona'l elevation about the secondary axis l2- -l2 is considerable, whereas the amplitude of oscillation. of the frame 8 about the primary axis 1-1 is butvery small.

The plate 9 constitutes a member which is so connected with the gimbal means as to partake in the precessional movement of the two. gyrozontal are much more powerful than the stabilizscope carriers 1 and II about the'primary axes l H l land 1-.- only, but is not affected by the .precessional oscillations about the secondary' axes l2 l2 and 5. Hence, the member 9'is" stabilized relative to the horizon even though the two gyroscope carriers may perform considerable oscillations about the axes 5-5 and l2-'-l2.

While it wasassumed that the gyroscope pendulums had been initially displacedfrom their normal perpendicular position, .it will be under stood that, in practical operation, the pendulums will depart from their perpendicular position but very slightly 'under the'eifect of the unavoidable friction of suspension or under the effect of various other influences. The movements of the ship, however, will not aifectthe maintenance of the axes Ill-l ll and 5-5 in horizontal position.

The stabilizing forces holding these ,axes horiing couples that could be produced by a single gyroscope pendulum of the same average precessional period which would have a symmetrical suspension. Furthermore, the powerful restoring couples constraining the two gyroscope pendu lums about the primary axes Ill-I0 "and 1-1 rwill reduce the North error introduced by the ro-.

It is immaterial whether 'the gyroscope axes are, accurately'perpendicular, since it matters only that the axes 5-5 and l0|0 should be accurately maintained in horizontal, position, This requirement would not be met unless the platform 3 were stabilized relative to the meridian, because a turn-of the platform 3 through '90 degrees, for instance, 'would fully introduce the. angles'of departure of the gyroscope pendulums from, perpendicular position into the position of the plate 9. 'This is the reasonwhy I prefer tozprovide suitable means for preventing any turn of the platform 3,relative to the V North-South line.

The embodiment illustrated in Fig. 2 differs. from that shown in Fig. l primarily by the substitution for the single gimbal frame 8 of two separate frames l3 and I5 which are suitably coupled forcommon angular motion.

The vertical trunnion of the holder I6 is provided with anti-friction hearings on which a platform 23'is freely rotatably .mounted. This platform is stabilized relative to the meridian. For this purpose, it is provided with two depending arms 25 providing horizontally opposed bearings for trunnions 24 secured to the'carrier l1 of a horizontal gyroscope. This" gyroscope has a.

comparatively large mass to produce a direc tive force which will hold the platform 23 at an invariable positionrelative to the North-South line.

The platform 23 is provided with two uprights constituting bearings for the trunnions 28, or 34 respectively, of two horizontal frames 13 and I5.

arranged one above the other. 7 The upper frame I3 is provided with opposed horizontal pivots 21 having a common axis extending at right angles to that of the trunnions 28. On the pivots 21 a gimbal frame is swingably mounted which is comprised ofa mirror 26 and two depending arms 28. The lower ends of these arms provide bearings for the opposed horizontal trunnions 30 of a gyroscope pendulum. This pendulum is formed by a carrier 3| and a gyroscope jour- 'nalled therein having a normally perpendicular.

axis. The center of gravity of the gyroscope pendulum is located .closely beneath the horizontal axis of the trunnions 30, whereby a small gravitational restoring couple will beexerted on the; gyroscope pendulum about this axis. common. center of gravity of the gimbal frame 26, 29 and the gyroscope pendulum'is considerably spaced from and located beneath the axis of the pivots 21, whereby the restoring couple about these pivots will be comparatively powerful. v

Within the lower frame ii there is suspended a second gyroscope carrier 32. The trunnions 33 of this gyroscope carrier extend horizontally at right angles to the'axis of the trunnions 34. The center of gravity of this gyroscope pendulum is located closely beneath the axis of the pivots 33.

The.

Therefore, this gyroscope pendulum is subject-to a small restoring couple about the trunnions 33.-

The two frames l3'and I5 are coupled by a connecting rod M which will always maintain the two frames in parallel relationship. The gimbal frame 26, 29 and the gyroscope carrier 3| constitute a pendulum producing a considerable restoring couple about the axis 2828. This couple is transferred by the connecting rod I4 to the gimbalframe l5. Hence, the gyroscope carrier 32 is constrained by aconsiderable restoring couple about the axis 3 3-44.

The operation is the same as that of the instrument illustrated in Fig. 1. Both gyroscope carriers 3| and 32 are provided with suitable damping means indicated at 38. These damping means will gradually reduce, within a brief period of time, any precessional oscillations that might occur when the instrument is started or when it is affected in operation by any disturbing influences. I

When the instrument has been started and when precessional oscillations have been damped, the mirror. 9, or 26 respectively, may be used in the same manner as the mirror of any other artificial horizon for observation by means of a sextant or octant. The remaining oscillations that might occur as a result of disturbances, such as changes of the course of the ship, have such a high frequency that they may be'eliminated, by repeated observations and by computing the average of the results. Practical operation during rough weather has shown that the results of observation were approximately located on a sinus curve-having an amplitude of 68 minutes and a period of only about 90 seconds, and that the instrument came to rest within about five minutes from its start so that the observations could begin. I

the frame carrying the mirror 9 or 26 is maintained in horizontal position with great accuracy, it may be employed as the commanding member of a' remote-controlled stabilizing system whereby instruments or guns mounted on the ship at a distance from the instrument may be stabilized about one or both horizontal axes. this event, the frame 9 or 26 would control the transfer elements and would not be equipped with a mirror. e

The movements of a member stabilized in such a manner relative to the'ship may be registered by suitable instruments in a known manner. It is also possible, however, to measure the motion of the stabilized member with relationship to the movement of members stabilized by other means,

such as other gyroscopic instruments having a very extended or indefinite period of oscillation. Thus, Fig. 3 shows a diagram inwhich the abscissa indicates the time and the ordinate indicates the angle of, oscillation of a curve a registered by a differential instrument measuring the difference in position of the gimbal frame 9 of Fig. 1 and of a slowly oscillating gyroscopic instrument relative to the ship. The line b indicates-the zero line which may be computed or estimated. This diagram shows very clearly the accuracy of operation of my invention. Moreover, it will be understood from Fig. 3 that myimproved instrument may be employed to measure the speed at which the slowly oscillating gyroscopic instrument departs ,from the true horizon. I

My invention is capable of numerous modifica- ;ions which will readily occur to anyone skilled in the art. Thus, the more powerful restoring couple about the primary axes 11. and ll0, or 34-34 and 21- -21 respectively, could be produced by other means than gravitational means, for instance, by springs.- a

What I claim is: C

1. In an instrument of the character described, the combination comprising a holder rotatable about a normally vertical axis, means rotating said holder to stabilize the same relative to the meridian, a gimbal frame pivotally mounted-on saidholder about a horizontal axis, a pendulum connected with said gimbal frame and exerting a powerful gravitational restoring couple about saidsaxis thereon, a gyroscope pendulum having a normally perpendicular spin axis and being pivotally mounted in said gimbal frame about an axis extending closely above the center of gravity of said gyroscope pendulum at substantially right angles to said first-mentioned axis, the first pendulum being constituted by a second gimbal frame pivotally supporting a second gyroscope pendulum, the pivots of said second gimbal frame being located in different horizontal planes above the centerof gravity of said second gyroscope pendulum, the upper of said pivots being located in said first-mentioned gimbalirame andextending at right angles to said first-mentioned horizontal axis thereof.

2. In an instrument of the character described,-

an element mounted to turn about a horizontal axis, a secondelement carried by said firstelement to turn with respect thereto about a second horizontal axis perpendicular to said first axis, and two gyroscopic means each comprising a case having a rotor therein for spinning about a vertical axis, means mounting the first case to turn about a third horizontal axis perpendicular to the axis of the firstelement and the second case to turn. about a fourth horizontal axis perpendicular to the axis of said second element, said first and second cases having freedom of movement with respect to said first and second elements; respectively, about said third and fourth horizontal axes only, said first case being connected to said first element so that said first case moves equally and synchronously as the first element pivots about said first horizontal axis, said second element representingan artificial horizon.

3. An instrument of the character described, including-an element mounted to turn about a normally horizontal axis, a second element pivoted to said first element to turn with respect thereto about a second horizontal axis perpendicular to the first-mentioned axis, gyroscopic means comprising a case having a rotor therein for spinning about a normally vertical axis, said case being pivotally supported by the first-mentioned element for turning with respect thereto only about an axis parallel with respect to the second horizontal axis, second pivotally supported gyroscopic means comprising a case having a rotor therein for spinning about a normally vertical axis, and means connecting said second case to said second element whereby said second case and second element pivot together about at least one horizontal axis perpendicular to the first-mentioned axis and whereby said second case pivots relative to said second element about a second horizontal axis perpendicular-to the last-named axis, said second element representing an artificial horizon.

4. In an instrument of the character described,

an element mounted to turn about a horizontal f axis, a second element carried by said first element to turn with respect thereto about a second and two gyroscopic means each comprising a case having a rotor therein for spinning about a vertical axis, means mounting the, first case to turn about a third horizontal axis perpendicular to the axis of the first element and the second case to turn about a'fourth horizontalaxis perpendicular to the axis of said second element, said first and second case's having'freedom of movement with respect to said first and second elements, respectively", about said third and fourth horizontal axes only, said first case being-connected to said first element so that said first case moves equally and synchronously as the first element pivots about said first horizontal axis, said second ele-.

ment representing an artificial horizon, said third and fourth horizontal axes being in close proximity to and slightly above the centers of gravity of said gyroscopic means, respectively.

5. In an'instrument of the character described,

an element mounted to turn abouta horizontal axis, a second element carried by the first element to turn with respect thereto about asecond horizontal axis perpendicular to the first axis,

first gyroscopic means comprising a case having ai'otor therein for spinning about a vertical axis, means mounting the case of thefirst gyroscopic means to turn' with respect to said first element only about a third horizontal axis parallel to said second horizontal axis, said third horizontal axis being in close proximity to and slightly above the center of gravity of said first gyroscopic means, said case being connected to said first -e1ement so that said case moves equally and synchronously as the first element moves aboutsaid first horizontal axis, second gyroscopic means comprising acase having a rotor therein for spinning about a, vertical axis, and means mounting the case of said secondgyroscopic means; on said second element substantially be-. low said second horizontal axis to' turn with respect to said second element only about a fourth horizontal axisrparallel to said first axis.

6. In aninsti'ument of the character described, an element mounted to turn about a horizontal axis, a second element carried by the first ele- .ment to turn'with respect thereto about a second horizontal axis perpendicular to the first axis, first gyroscopic means comprising a case having a rotor therein for spinning about a'vertical axis, means mounting the-case of the first gyroscopic means to turn with respect to said first element only abouta third horizontal axis parallel to said second horizontal axis, said third horizontal axis being in close proximity to and slightly above ment representing 1 a 2,199,294; horizontal axis perpendicular to said first axis.

in close proximity to and slightly above the cen-' ter of gravity of said second gyroscopic means.

'1. 'In an instrument of the character described, a holder rotatable about a normally vertical axis, means rotating said holder to stabilize the same relative to the meridian, an element mounted on said holder to'turn with respect'thereto about a horizontal axis, a second element mounted on the first element to turn with respect thereto about a 'second horizontal axis perpendicular to said first axis, and two gyroscopic means each comprising a case having a rotor therein for spinning about a vertical axis, means mounting the first case on said first element to turn with respect thereto about a third horizontal axis perpendicular to the first axis, and means mounting the second case on said secondelement to turn with respect thereto about a fourth hori-,

zontal axis perpendicular to the second axis.

,8. An instrumentof the character described, including an'element' mounted to turn about. a horizontal axis, a second element carried by said first element toturn with respect thereto about a second horizontal axis perpendicular to the first-mentioned axis, a' third element mounted to turn about a horizontal axis parallel to said first-mentioned axis, gyroscopic means comprising a case having a rotor therein for spinning about a vertical axis, means mounting the case of said gyroscopic means on'sald thirdelement so that the said case has freedom of motion with 1 respectto said third element only about a=third horizontal axis parallel to said second horizonal axis, secondgyroscopic means comprising a case having a rotor therein for spinning about a vertical axis, means mounting the case of said second gyroscopic means on saids'econd element so that the case of said second gyroscopic means has ireedom oi motion with respect to said second element only about a fourth horizontal axis parallel to said first-mentioned 'axis, and means coupling said first and third elements for maintaining said first and third elements. in substantially parallel relationship, said second elea'n artificial horizon. JOHANNES SELIGMANN. 

